(window.webpackJsonp=window.webpackJsonp||[]).push([[281],{603:function(t,e,l){"use strict";l.r(e);var _=l(10),v=Object(_.a)({},(function(){var t=this,e=t._self._c;return e("ContentSlotsDistributor",{attrs:{"slot-key":t.$parent.slotKey}},[e("h1",{attrs:{id:"外部辅助数据融合"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部辅助数据融合"}},[t._v("#")]),t._v(" 外部辅助数据融合")]),t._v(" "),e("p",[t._v("系统支持外接位置、速度、姿态等传感器，参与辅助组合导航以提高精度。输入须符合指定格式；载荷中的标准差字段一般必须给出且不可为 0，否则外部融合不生效。下文分三部分说明外部输入数据融合。")]),t._v(" "),e("h2",{attrs:{id:"外部辅助数据格式"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部辅助数据格式"}},[t._v("#")]),t._v(" 外部辅助数据格式")]),t._v(" "),e("p",[t._v("输入格式须符合 FDILink 协议，帧结构如下（亦见 "),e("RouterLink",{attrs:{to:"/developers/02-fdilink/02-data-types.html#数据帧组成"}},[t._v("数据帧组成")]),t._v("）：")],1),t._v(" "),e("table",[e("tbody",[e("tr",[e("td"),t._v(" "),e("td",{attrs:{colspan:"5"}},[e("b",[t._v("帧头")])]),t._v(" "),e("td",{attrs:{colspan:"3"}},[e("b",[t._v("数据区")])]),t._v(" "),e("td",[e("b",[t._v("帧尾")])])]),t._v(" "),e("tr",[e("td"),t._v(" "),e("td",[t._v("起始")]),t._v(" "),e("td",[t._v("指令类别")]),t._v(" "),e("td",[t._v("数据长度")]),t._v(" "),e("td",[t._v("流水序号")]),t._v(" "),e("td",[t._v("帧头 CRC8")]),t._v(" "),e("td",{attrs:{colspan:"2"}},[t._v("数据 CRC16")]),t._v(" "),e("td",[t._v("载荷")]),t._v(" "),e("td",[t._v("结束")])]),t._v(" "),e("tr",[e("td",[t._v("字节数")]),t._v(" "),e("td",[t._v("1")]),t._v(" "),e("td",[t._v("1")]),t._v(" "),e("td",[t._v("1")]),t._v(" "),e("td",[t._v("1")]),t._v(" "),e("td",[t._v("1")]),t._v(" "),e("td",{attrs:{colspan:"2"}},[t._v("2")]),t._v(" "),e("td",[t._v("1–255")]),t._v(" "),e("td",[t._v("1")])]),t._v(" "),e("tr",[e("td",[t._v("数值")]),t._v(" "),e("td",[t._v("0xFC")]),t._v(" "),e("td",[e("b",[t._v("A")])]),t._v(" "),e("td",[e("b",[t._v("B")])]),t._v(" "),e("td",[e("b",[t._v("C")])]),t._v(" "),e("td",[e("b",[t._v("D")])]),t._v(" "),e("td",[t._v("高字节 (E)")]),t._v(" "),e("td",[t._v("低字节 (E)")]),t._v(" "),e("td"),t._v(" "),e("td",[t._v("0xFD")])])])]),t._v(" "),e("p",{staticClass:"table-caption"},[t._v("表：FDILink 数据帧结构")]),t._v(" "),e("p",[t._v("数据区载荷当前支持的外部输入类型如下。External SLAM1 可包含姿态数据；若需输入外部 ODOM，见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/里程计校准.html"}},[t._v("里程计校准")]),t._v("。各数据包字段定义见 "),e("RouterLink",{attrs:{to:"/developers/02-fdilink/03-data-packets/"}},[t._v("FDILink 数据帧")]),t._v("。")],1),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("外部输入类型")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("含义")])]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("MSG ID")])])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("External Position & Velocity")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("外部速度、位置")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("0x68")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("External Position")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("外部位置")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("0x69")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("External Velocity")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("外部速度")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("0x6A")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("External SLAM1")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("外部 SLAM")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("0x92")])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("External Odom")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("外部 ODOM")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("0x90")])])])]),t._v(" "),e("p",{staticClass:"table-caption"},[t._v("表：外部输入数据类型")]),t._v(" "),e("h2",{attrs:{id:"外部输入串口模式配置"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部输入串口模式配置"}},[t._v("#")]),t._v(" 外部输入串口模式配置")]),t._v(" "),e("p",[t._v("在 FDIGroundStation 的 Config 面板 "),e("strong",[t._v("COMM")]),t._v(" 配置框中，将用于接收外部数据的串口模式配置为上表对应类型（如 External SLAM1）。含义见上表；字段定义见 "),e("RouterLink",{attrs:{to:"/developers/02-fdilink/"}},[t._v("FDILink 协议")]),t._v("。COMM 口说明亦可参考 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/1/Config界面.html#comm-模块"}},[t._v("Config界面")]),t._v("。")],1),t._v(" "),e("h2",{attrs:{id:"外部输入-aid-开关"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#外部输入-aid-开关"}},[t._v("#")]),t._v(" 外部输入 AID 开关")]),t._v(" "),e("p",[t._v("串口模式配置完成后，按指定格式向该串口写入数据，模组即可解析。要使数据参与融合解算，还需在 Config 面板 "),e("strong",[t._v("AID")]),t._v(" 配置框中勾选对应融合开关（如 "),e("code",[t._v("AID_EXT_SLAM1_UPDATE")]),t._v("）。各开关说明见 "),e("RouterLink",{attrs:{to:"/developers/fdigroundstation/2/spkf.html"}},[t._v("AID 开关说明")]),t._v("。")],1),t._v(" "),e("h2",{attrs:{id:"具体应用案例"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#具体应用案例"}},[t._v("#")]),t._v(" 具体应用案例")]),t._v(" "),e("p",[t._v("假定需将外部姿态与速度输入模组做融合解算。姿态与速度字段定义在 External SLAM1 包中，可按以下四步操作：")]),t._v(" "),e("ol",[e("li",[e("p",[e("strong",[t._v("配置 COMM 模式")]),e("br"),t._v("\n若 COM2 尚未占用（COM3 空闲亦可），将其配置为 "),e("strong",[t._v("External SLAM1")]),t._v("。")])]),t._v(" "),e("li",[e("p",[e("strong",[t._v("配置 AID 开关")]),e("br"),t._v("\n勾选 AID 中的 "),e("strong",[t._v("AID_EXT_SLAM1_UPDATE")]),t._v("。")])]),t._v(" "),e("li",[e("p",[e("strong",[t._v("保存配置")]),e("br"),t._v("\n点击界面右下角 "),e("strong",[t._v("Save to FDI")]),t._v("，在弹出窗口中点击 "),e("strong",[t._v("Save to Permanent Memory")]),t._v("，然后点击 "),e("strong",[t._v("Restart")]),t._v(" 上电重启。")])]),t._v(" "),e("li",[e("p",[e("strong",[t._v("按 FDILink 格式向该串口输入数据")]),e("br"),t._v("\n本例使用 External SLAM1（MSG ID "),e("code",[t._v("0x92")]),t._v("）。载荷中除 "),e("code",[t._v("Velocity_X/Y/Z")]),t._v("、"),e("code",[t._v("Roll")]),t._v("、"),e("code",[t._v("Pitch")]),t._v("、"),e("code",[t._v("Yaw")]),t._v(" 外，对应六个标准差字段也必须写入且不能为 0。标准差表示该类数据的噪声：越小表示越精确、越可靠，融合权重越大；反之权重越小。完整字段定义见 "),e("RouterLink",{attrs:{to:"/developers/02-fdilink/03-data-packets/MSG_EXT_SLAM1.html"}},[t._v("MSG_EXT_SLAM1")]),t._v("。")],1)])]),t._v(" "),e("table",[e("thead",[e("tr",[e("th",{staticStyle:{"text-align":"left"}},[t._v("Offset")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("Size")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("Format")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("Field")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("Unit")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("Description")]),t._v(" "),e("th",{staticStyle:{"text-align":"left"}},[t._v("本例中的值")])])]),t._v(" "),e("tbody",[e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("0")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_X")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("X 轴坐标")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_Y")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Y 轴坐标")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("8")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_Z")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Z 轴坐标")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("12")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_X")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("X 轴速度")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("16")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_Y")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Y 轴速度")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("20")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_Z")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Z 轴速度")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("24")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Roll")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("横滚角")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("28")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Pitch")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("俯仰角")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("32")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Yaw")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("偏航角")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("36")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_X_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("X 轴坐标标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("40")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_Y_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Y 轴坐标标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("44")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Position_Z_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Z 轴坐标标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("48")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_X_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("X 轴速度标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("52")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_Y_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Y 轴速度标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("56")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Velocity_Z_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("m/s")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Z 轴速度标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("60")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Roll_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("横滚角标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("64")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Pitch_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("俯仰角标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])]),t._v(" "),e("tr",[e("td",{staticStyle:{"text-align":"left"}},[t._v("68")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("4")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("float32_t")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("Yaw_standard_deviation")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("rad")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[t._v("偏航角标准差")]),t._v(" "),e("td",{staticStyle:{"text-align":"left"}},[e("strong",[t._v("用户给定，不能为 0")])])])])]),t._v(" "),e("p",{staticClass:"table-caption"},[t._v("表：External SLAM1（0x92）载荷示例取值")]),t._v(" "),e("h3",{attrs:{id:"一帧示例"}},[e("a",{staticClass:"header-anchor",attrs:{href:"#一帧示例"}},[t._v("#")]),t._v(" 一帧示例")]),t._v(" "),e("p",[t._v("下面给出一帧 External SLAM1 输入数据示例：")]),t._v(" "),e("p",[t._v("FC 92 48 9A 86 31 0B 00 00 00 00 00 00 00 00 00 00 00 00 "),e("a",{staticStyle:{color:"#c60c30","font-weight":"600"}},[t._v("00 00 A0 40")]),t._v(" 00 00 00 00 00 00 00 00 "),e("a",{staticStyle:{color:"#24C60C","font-weight":"600"}},[t._v("CD CC CC 3D")]),t._v(" CD CC 4C 3E 00 00 00 3F 00 00 00 00 00 00 00 00 00 00 00 00 "),e("a",{staticStyle:{color:"#0C18C6","font-weight":"600"}},[t._v("0A D7 23 3C")]),t._v(" 0A D7 23 3C 0A D7 23 3C "),e("a",{staticStyle:{color:"#BA0CC6","font-weight":"600"}},[t._v("6F 12 83 3A")]),t._v(" 6F 12 83 3A 6F 12 83 3A FD")]),t._v(" "),e("p",[t._v("其中：")]),t._v(" "),e("ul",[e("li",[t._v("红色 "),e("a",{staticStyle:{color:"#c60c30","font-weight":"600"}},[t._v("00 00 A0 40")]),t._v("："),e("code",[t._v("Velocity_X")]),t._v("，约 5 m/s；其余两轴速度为 0。")]),t._v(" "),e("li",[t._v("绿色 "),e("a",{staticStyle:{color:"#24C60C","font-weight":"600"}},[t._v("CD CC CC 3D")]),t._v("："),e("code",[t._v("Roll")]),t._v("，约 0.1 rad；"),e("code",[t._v("Pitch")]),t._v("、"),e("code",[t._v("Yaw")]),t._v(" 分别约为 0.2 rad、0.5 rad。")]),t._v(" "),e("li",[t._v("蓝色 "),e("a",{staticStyle:{color:"#0C18C6","font-weight":"600"}},[t._v("0A D7 23 3C")]),t._v("："),e("code",[t._v("Velocity_X_standard_deviation")]),t._v("，约 0.01 m/s；Y、Z 轴同为 0.01 m/s。")]),t._v(" "),e("li",[t._v("紫色 "),e("a",{staticStyle:{color:"#BA0CC6","font-weight":"600"}},[t._v("6F 12 83 3A")]),t._v("："),e("code",[t._v("Roll_standard_deviation")]),t._v("，约 0.001 rad；俯仰角、偏航角标准差同为 0.001 rad。")])])])}),[],!1,null,null,null);e.default=v.exports}}]);